US10101179B2 - Electromagnetic position tracking system - Google Patents

Abstract

The invention relates to an electromagnetic position tracking system, including: an electromagnetic field emission device including at least one emitter coil and, connected to the emitter coil, a first generator of an electric signal for exciting the emitter coil; a device for receiving the electromagnetic field emitted by the emission device, including at least one receiver coil, and, connected to the receiver coil, a circuit for reading an electric signal induced in the receiver coil; and a system for measuring at least one parameter of the reception device, including, connected to the receiver coil, a second generator of an electric signal for exciting the receiver coil.

Description

CROSS-REFERENCE TO RELATED APPLICATION

The instant application claims the benefit of French patent application number 15/56827, filed Jul. 20, 2015, the teachings of which are incorporated herein by this reference.

BACKGROUND

The present application relates to electromagnetic position tracking systems or electromagnetic locating systems. It more specifically aims at electromagnetic position tracking systems adapted to the medical field, for example, to locate one or a plurality of tools used by a surgeon during a medical operation.

DISCUSSION OF THE RELATED ART

Position tracking systems of the type comprising the following elements are here more particularly considered:

an electromagnetic field emission device comprising one of a plurality of emitter coils; and

a device for receiving this field comprising one or a plurality of receiver coils.

In such a system, the conjoint analysis of the fields emitted by the emitter coils and of the fields received by the receiver coils enables to determine the position and/or the orientation of the receiver device with respect to the emission device.

An example of such a system is for example described in patent application US2005/0165297.

An electromagnetic position tracking system having an improved performance over known systems, particularly in terms of location accuracy, is needed.

SUMMARY

Thus, an embodiment provides an electromagnetic position tracking system comprising: an electromagnetic field emission device comprising at least one emitter coil and, connected to the emitter coil, a first generator of an electric signal for exciting the emitter coil; a device for receiving the electromagnetic field emitted by the emission device, comprising at least one receiver coil, and, connected to the receiver coil, a circuit for reading an electric signal induced in the receiver coil; and a system for measuring at least one parameter of the reception device, comprising, connected to the receiver coil, a second generator of an electric signal for exciting the receiver coil.

According to an embodiment, the parameter is a parameter from the group comprising the series resistance and the self-inductance of the receiver coil.

According to an embodiment, the reception device comprises at least two receiver coils, and the parameter is a parameter from the group comprising the series resistance of each receiver coil, the self-inductance of each receiver coil, and the coefficient of mutual inductance between two receiver coils.

According to an embodiment, the parameter comprises the series resistance of each receiver coil, and the measurement system is capable, to measure the series resistance, of applying to one end of the receiver coil a DC voltage or a sinusoidal voltage having a frequency at least 20 times lower than the cut-off frequency of the coil.

According to an embodiment, the parameter comprises the self-inductance of each receiver coil, and the measurement system is capable, to measure the self-inductance, of applying on one end of the receiver coil a sinusoidal voltage having a frequency greater than the cut-off frequency of the coil.

According to an embodiment, the parameter comprises the coefficient of mutual inductance between the two receiver coils, and the measurement system is capable, to measure the coefficient, of applying on one end of one of the two receiver coils a sinusoidal voltage having a frequency greater than the cut-off frequency of the coil.

According to an embodiment, the read circuit comprises, associated with each receiver coil, a sense amplification stage comprising an operational amplifier having its inverting input coupled to the output via a feedback resistor and having its non-inverting input coupled to a node of application of a reference potential, a first end of the receiver coil being connected to the inverting input of the operational amplifier.

According to an embodiment, the second generator comprises, associated with each receiver coil, a controllable voltage source connected between the second end of the receiver coil and the node of application of a reference potential.

According to an embodiment, the second generator comprises a digital frequency synthesizer.

According to an embodiment, the emitter coil comprises three emitter coils oriented along different axes, and the receiver coil comprises three receiver coils oriented along different axes.

The foregoing and other features and advantages will be discussed in detail in the following non-limiting description of specific embodiments in connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically shows in the form of blocks an example of an electromagnetic position tracking system;

FIG. 2 shows in further detail a portion of the reception device of the electromagnetic position tracking system of FIG. 1;

FIG. 3 schematically shows in the form of blocks an embodiment of an electromagnetic position tracking system; and

FIG. 4 shows in further detail a portion of the electromagnetic position tracking system of FIG. 3.

DETAILED DESCRIPTION

The same elements have been designated with the same reference numerals in the different drawings. For clarity, only those elements which are useful to the understanding of the described embodiments have been shown and are detailed. In particular, the calculation algorithms enabling, based on the values of the fields emitted by the emitter coils and received by the receiver coils, to determine the position and/or the orientation of the reception device with respect to the emission device, are not detailed. Indeed, the described embodiments are compatible with usual algorithms for determining the position and/or orientation information of the reception device based on the measured field values. Unless otherwise specified, expressions “substantially” and “in the order of” mean to within 10%, preferably to within 5%. Further, in the present description, term “connected” will be used to designate a direct electric connection, with no intermediate electronic component, for example, by means of one or a plurality of conductive tracks or conductive wires, and term “coupled” or term “linked” is used to designate either a direct electric connection (then meaning “connected”) or a connection via one or a plurality of intermediate components (resistor, capacitor, etc.).

FIG. 1 schematically shows in the form of blocks an example of an electromagnetic position tracking system.

The system of FIG. 1 comprises an electromagnetic field emission device 101 comprising an assembly 103 of one or a plurality of emitter coils. The case of a system where assembly 103 comprises three emitter coils BE₁, BE₂ and BE₃ oriented along three different axes, for example, along the three axes of an orthogonal reference frame, is here considered. Emission device 101 further comprises a device 105 for generating AC electric signals (voltage or currents) for exciting the coils of assembly 103, for example, sinusoidal signals. Generator 105 is connected to at least one terminal of each of coils BE₁, BE₂ and BE₃.

The system of FIG. 1 further comprises a device 111 for receiving the electromagnetic field emitted by emission device 101. Reception device 111 comprises an assembly 113 of one or a plurality of receiver coils. The case of a system where assembly 113 comprises three receiver coils BR₁, BR₂ and BR₃ oriented along three different axes, for example, along the three axes of an orthogonal reference frame, is here considered as an example. Reception device 111 further comprises a device 115 for reading the electric signals (voltages or currents) induced in the coils of assembly 113 under the effect of the AC fields emitted by the emitter coils.

The system of FIG. 1 further comprises a processing device 121, for example comprising a microprocessor, coupled on the one hand to generator 105 of emission device 101 and on the other hand to read device 115 of reception device 111. The connections between generator 105 and processing device 121 and between read device 115 and processing device 121 may be wire connections or wireless connections. Generator 105 is capable of transmitting to processing device 121 signals representative of the excitation signals that it applies to the terminals of emitter coils BE₁, BE₂ and BE₃. Read device 115 is capable of transmitting to processing device 121 signals representative of the signals read across receiver coils BR₁, BR₂ and BR₃. The signals transmitted by devices 105 and 115 to processing device 121 are for example digital signals. As an example, generator 105 comprises a circuit (not shown) for sampling and digitizing the analog excitation signals applied across emitter coils BE₁, BE₂ and BE₃, and read device 115 comprises a circuit (not shown) for sampling and digitizing the analog signals read across receiver coils BR₁, BR₂ and BR₃.

The locating system of FIG. 1 operates as follows.

Assembly 103 of emitter coils of emission device 101 defines a reference frame for the location of assembly 113 of receiver coils of reception device 111. Assembly 113 of receiver coils may be secured to an object to be located. As an example, in the case of an application to the locating of a surgical tool, assembly 103 of emitter coils may be secured to a patient's body or on a structure external to the patient's body used as a reference frame. The assembly 113 of receiver coils may be secured to a surgical tool which is desired to be located during the operation.

During a phase of tracking the position of the object to be located, emitter coils BE₁, BE₂ and BE₃ of emission device 101, controlled by generator 105, each emit an AC electromagnetic field. As an example, generator 105 is configured to simultaneously apply excitation signals of different frequencies to the different coils of assembly 103, in which case the coils of assembly 103 simultaneously emit AC electromagnetic fields having different frequencies. This enables, at the level of the reception device, to be able to spectrally discriminate the fields originating from the different emitter coils. As a variation, the generator is configured to sequentially apply to the different coils of assembly 103 excitation signals of same frequency, so that at a given time, only one of the coils of assembly 103 emits an electromagnetic field. This enables, at the level of the reception device, to be able to discriminate in time the fields originating from the different emitter coils. The emission frequency or frequencies of device 101 are for example in the range from 1 to 50 kHz. Signals (for example digital) representative of the excitation signals applied by generator 105 to coils BE₁, BE₂ and BE₃, are transmitted to processing unit 121.

At the level of reception device 111, the electric signals are induced in receiver coils BR₁, BR2 and BR₃ under the effect of the electromagnetic fields emitted by emitter coils BE₁, BE₂ and BE₃. These signals are measured by read device 115 and transmitted (for example, in digital form) to processing unit 121.

Processing device 121 comprises a synchronous demodulation and filtering unit (not shown in the drawing) capable, based on signals transmitted by generator 105 and read device 115, of determining, for each of the receiver coils of assembly 113, the intensity of the field captured by the coil from each of the emitter coils of assembly 103. Based on the intensity of the fields captured by the receiver coils, processing device 121 determines the position and/or the orientation of the assembly of receiver coils 113 with respect to the assembly of emitter coils 103. More particularly, in the example of FIG. 1, the synchronous demodulation and filtering unit determines nine field values respectively corresponding to the field received by coil BR₁ from coil BE₁, to the field received by coil BR₁ from coil BE₂, to the field received by coil BR₁ from coil BE₃, to the field received by coil BR₂ from coil BE₁, to the field received by coil BR₂ from coil BE₂, to the field received by coil BR₂ from coil BE₃, to the field received by coil BR₃ from coil BE₁, to the field received by coil BR₃ from coil BE₂, and to the field received by coil BR₃ from coil BE₃. Based on these nine field values, processing unit 121 calculates the spatial position coordinates of all the receiver coils 113 along three axes of the reference frame defined by the emitter coils, and three angular values defining the orientation of all the receiver coils 113 with respect to the axes of the reference frame defined by the emitter coils (it is spoken of a locating system with six degrees of freedom).

The accuracy of a locating system of the type described in relation with FIG. 1 particularly depends on the accuracy of the measurement of the fields captured by the coils of the reception device. Thus, to obtain a good locating accuracy, the transfer function of conversion of the field values of the electric signals (voltages or currents) measured across the coils of reception device 111 should be accurately known.

The case where read device 115 of reception device 111 comprises a transimpedance-type amplification device is here more particularly considered. An example of such an amplification device is illustrated in FIG. 2.

FIG. 2 shows in further detail a portion of reception device 111 of an electromagnetic system position tracking system of the type described in relation with FIG. 1.

In the example of FIG. 2, read device 115 comprises, associated with each of receiver coils BR_i, with i being an integer from 1 to 3, an amplification device 201 _i of transimpedance type, that is, comprising an operational amplifier 203 _i having its inverting input (−) coupled to its output by a feedback resistor Rc_i and having its non-inverting input (+) coupled to a node of application of a reference potential GND, for example, the ground. For simplification, only one coil BR_i and one amplification device 201 _i associated with this coil have been shown in FIG. 2.

Coil BR_i has its two ends connected, for example, via a coaxial cable 205 _i, respectively to the inverting input (−) and to the non-inverting input (+) of operational amplifier 203 _i.

In such an assembly, coil BR_i is shorted due to the virtual ground present on the inverting input (−) of operational amplifier 203 _i. Coil BR_i conducts a current i_BRi proportional to the intensity of the magnetic field received by the coil.

In operation, operational amplifier 203 _i delivers on its output node a voltage Vout_i (referenced with respect to node GND) which is an amplified image of current i_BRi.

Read device 115 may further comprise, associated with each of receiver coils BR_i, a sampling and digitization circuit (not shown) capable of sampling and digitizing voltage Vout_i, the digital output of this circuit being coupled to processing device 121.

The transfer function or magnetic field/voltage conversion gain of such an assembly may be expressed as follows:

$K_{\mathrm{BRi}}\left(j\omega \right)=\frac{V_{\mathrm{outi}}}{B}=-\frac{M_{\mathrm{BRi}}}{L_{\mathrm{BRi}}}{\mathrm{Rc}}_i\frac{\frac{L_{\mathrm{BRi}}}{{\mathrm{Rs}}_{\mathrm{BRi}}}j\omega }{1+\frac{L_{\mathrm{BRi}}}{{\mathrm{Rs}}_{\mathrm{BRi}}}j\omega }$

where B designates the intensity of the magnetic field received by coil BR_i, j designates the imaginary unit, ω designates the pulse of field B (ω=2πf, f being the frequency of field B), M_BRi designates the magnetic moment per current unit of coil BR_i, in A·m²/A, L_BRi designates the inductance of coil BR_i, Rs_BRi designates the series resistance of the circuit connected between the inverting input (−) and the non-inverting input (+) of operational amplifier 203 _i, particularly comprising, in this example, the resistance of coil BR_i and the resistance of cable 205 _i, and K_BRI(jω) designates the field/voltage proportionality coefficient at pulse ω.

The frequency response of conversion gain K_BRi is a response of high-pass type, with a gain equal to (M_BRi/L_BRi)*Rc_i, and a cut-off frequency equal to Rs_BRi/(2πL_BRi).

To accurately know the magnetic field/voltage transfer function of such an assembly, one needs to accurately know parameters L_BRi and Rs_BRi of the assembly.

The accurate knowledge of the value of resistor Rs_BRi raises a specific issue since this value is likely to vary by relatively large proportions under the effect of the temperature variations to which receiver coils BR_i may be submitted.

The value of inductance L_BRi, although it is less dependent on temperature variations, however remains capable of drifting (particularly depending on the materials used, such as for example, the use or not of a ferromagnetic core). It may further be useful to accurately know this value in a phase of calibration of the electromagnetic system to constrain certain coefficients used by the calculation algorithm for determining the position and/or the orientation.

Further, in the case of a reception device with a plurality of coils of the type shown in FIG. 1, a phenomenon of parasitic coupling of receiver coils BR_i with one another occurs. More particularly, each coil emits back a parasitic magnetic field proportional to the induced current that it conducts, this parasitic field being itself captured by the other receiver coils. Thus, for example, in the configuration with three receiver coils of FIG. 1, field B captured by receiver coil BR₃ will comprise not only the useful field which is desired to be measured, that is, the field emitted by coils BE₁, BE₂ and BE₃ of emission device 101, but also a parasitic field emitted back by receiver coil BR₁, and a parasitic field emitted back by receiver coil BR₂. To determine the useful field captured by each of coils BR_i, the parasitic fields emitted by the other receiver coils of assembly 113 have to be known. To achieve this, the mutual inductance coefficient between the different receiver coils should be accurately known. In particular, in the case of a transimpedance assembly of the type described in relation with FIG. 2, the parasitic field received by a receiver coil BR_i from another receiver coil BR_i+ (i′ being an integer from 1 to 3 different from i) is equal to

$\frac{{\mathrm{Ml}}_{i,i^{\prime }}}{M_{\mathrm{BRi}}}{i}_{{\mathrm{BRi}}^{\prime }}=\frac{{\mathrm{Ml}}_{i,i^{\prime }}}{M_{\mathrm{BRi}}}\frac{V_{{\mathrm{outi}}^{\prime }}}{{\mathrm{Rc}}_{i^{\prime }}}$

where Ml_i,i′ designates the coefficient of mutual inductance between coils BR_i and BR_i′.

The values of the mutual inductance coefficients are little dependent on temperature variations, and fluctuate little on the short term. However, in the same way as for inductance values L_BRi, it may be useful to know the mutual inductance coefficients in the electromagnetic calibration phase to constrain certain coefficients used by the calculation algorithm for determining the position and/or the orientation.

FIG. 3 schematically shows in the form of blocks an embodiment of an electromagnetic position tracking system.

The system of FIG. 3 comprises elements common with the system of FIG. 1. These elements will not be detailed again. In the following description, only the differences between the system of FIG. 3 and the system of FIG. 1 will be detailed.

The system of FIG. 3 differs from the system of FIG. 1 in that it comprises, in addition to emission device 101, reception device 111 and processing unit 121, a system for measuring parameters of reception device 111, the measurement system enabling to determine in situ, that is, during a phase of use of the locating system to follow the position of an object, the values of parameters Rs_BRi and/or L_BRi and/or Ml_i,i′ of the assembly formed by receiver coils BR_i and sense amplification stages 201 _i associated with the receiver coils.

The parameter measurement system comprises a controllable device 331 for generating electric signals (voltages or currents) for exciting the receiver coils of assembly 113. Generator 331 is connected to at least one terminal of each of receiver coils BR₁, BR₂ and BR₃.

Generator 331 is coupled to processing device 121 by a wire or wireless connection. Generator 331 is capable of transmitting to processing device 121 signals (for example, digital) representative of the excitation signals that it applies to the terminals of receiver coils BR₁, BR₂ and BR₃.

FIG. 4 shows in further detail a portion of the locating system of FIG. 3.

In the example of FIG. 4, read device 115 comprises, as in the example of FIG. 2, associated with each of receiver coils BR_i, an amplification device 201 _i of transimpedance type, comprising an operational amplifier 203 _i having its inverting input (−) coupled to its output by a feedback resistor Rc_i and having its non-inverting input (+) coupled to a node of application of a reference potential GND, for example, the ground.

In the example of FIG. 4, generator 331 comprises, associated with each of receiver coils BR_i, a controllable current source 433 _i connected to an end of coil BR_i and capable of applying a voltage Vm_i, referenced with respect to node GND, to this end of coil BR_i.

The other end of coil BR_i is connected to the inverting input (−) of operational amplifier 203 _i.

For simplification, only one coil BR_i, one amplification device 201 _i associated with this coil, and one controllable voltage source 433 _i associated with this coil have been shown in FIG. 4.

As an example, a cable 205 _i, for example, a coaxial cable, couples the two ends of coil BR_i respectively to the inverting input (−) of operational amplifier 203 _i and to the output of controllable voltage source 433 _i.

In this assembly, coil BR_i is not directly connected to the non-inverting input (+) of operational amplifier 203 _i, but is coupled to the non-inverting input (+) via controllable current source 433 _i and reference node GND.

The operation of the electromagnetic locating system of FIGS. 3 and 4 is identical or similar to that of FIGS. 1 and 2 in that it concerns actual position tracking operations, with the difference that, in the system of FIGS. 3 and 4, the series resistance Rs_BRi associated with receiver coil BR_i, that is, the series resistance of the circuit connected between the inverting input (−) and the non-inverting input (+) of operational amplifier 203 _i, comprises not only the resistance of coil BR_i and the resistance of cable 205 _i, but further comprises series resistance R_g of controllable current source 433 _i.

The operation of the system for measuring parameters of reception device 101 of the electromagnetic locating system of FIGS. 3 and 4 will now be described in the next three cases: A) to measure the series resistance Rs_BRi associated with a receiver coil BR_i, B) to measure the inductance L_BRi of a receiver coil BR_i, and C) to measure the coefficient Ml_i,i′ of mutual inductance between two receiver coils BR_i and BR_i′.

A) measurement of series resistance Rs_BRi

To measure the series resistance Rs_BRi associated with a coil BR_i, generator 331 controls the application, via controllable voltage source 433 _i, of a DC or sinusoidal voltage Vm_i on the terminal of coil BR_i connected to voltage source 433 _i.

In the case of a sinusoidal voltage Vm_i, the latter may be expressed as follows:
Vm _i(t)=V _ref cos(2πf _i t)

where V_ref designates the amplitude of the sinusoidal voltage and f_i designates the frequency thereof.

Voltage Vm_i is amplified by transimpedance amplification stage 201 _i, the amplified image of this voltage forming a component of output voltage V_outi of amplification stage 201 _i. Frequency f_i of voltage Vm_i is preferably selected to be much smaller than the cut-off frequency of the coil (equal to Rs_BRi/2πL_BRi), so that the impedance of the inductance of coil BR_i can be neglected as compared with the series resistance to be measured. As an example, frequency f_i is selected to be at least 20 times smaller than the cut-off frequency of the coil. As an example, frequency f_i may be in the range from 1 to 20 Hz for a cut-off frequency of the coil substantially equal to 1 kHz. Amplitude V_ref of the sinusoidal voltage is selected to avoid saturating operational amplifier 203 _i, that is, so that output voltage V_outi of the amplification stage remains lower than the saturation output voltage of amplifier 203 _i.

Processing device 121 comprises a synchronous detection unit (not shown in the drawing) capable of extracting peak value V_outifi of the frequency component f_i of signal V_outi. Based on peak value V_outifi, processing device 121 may determine the value of series resistance Rs_BRi by the following formula:

${\mathrm{Rs}}_{\mathrm{BRi}}=\frac{{\mathrm{Rc}}_i}{2}\frac{V_{\mathrm{ref}}}{V_{\mathrm{outifi}}}$

In the case of a DC voltage Vm_i of value V_ref, only the processing implemented by the detection unit differs from what has just been described. This processing may be a simple low-pass filtering enabling to directly extract DC component V_outic from voltage V_outi. Processing device 121 can then determine the values of series resistance Rs_BRi by the following formula:

${\mathrm{Rs}}_{\mathrm{BRi}}={\mathrm{Rc}}_i\frac{V_{\mathrm{ref}}}{V_{\mathrm{outic}}}$

B) measurement of self-inductance L_BRi

To measure the inductance L_BRi of coil BR_i, generator 331 controls the application, via controllable voltage source 433 _i, of a sinusoidal AC voltage Vm_i on the terminal of coil BR_i connected to voltage source 433 _i.

Voltage Vm_i may, as in case A), be expressed as follows:
Vm _i(t)=V _ref cos(2πf _i t)

This time, frequency f_i of voltage Vm_i is selected to be close to or greater than the cut-off frequency of the coil (equal to Rs_BRi/2πL_BRi), so that the impedance of the inductance of coil BR_i is non-negligible as compared with the series resistance of coil Rs_BRi. As an example, to measure inductance L_BRi, frequency f_i is selected to be from 1 to 50 times the cut-off frequency of the coil. As an example, to measure inductance L_BRi, frequency f_i may be in the range from 1 to 20 kHz for a cut-off frequency in the order of 1 kHz. Preferably, frequency f_i is different from the emission frequency or frequencies of emission device 101. As an example, frequency f_i is smaller than the lowest emission frequency of emission device 101, or greater than the largest emission frequency of emission device 101. Amplitude V_ref of voltage Vm_i is selected to avoid saturating operational amplifier 203 _i.

Voltage Vm_i is amplified by transimpedance amplification stage 201 _i. The amplified image of voltage Vm_i thus forms a component of frequency f_i of output voltage V_outi of amplification stage 201 _i, expressed as follows:

$V_{\mathrm{outifi}}\left(t\right)=V_{\mathrm{ref}}\cos \left(2\pi f_{i}t\right)\frac{{\mathrm{Rc}}_i}{{\mathrm{Rs}}_{\mathrm{BRi}}+L_{\mathrm{BRi}}j\omega }$

The detection unit of processing device 121 is capable of extracting peak value V_outifi of frequency component f_i of signal V_outi, expressed as follows:

$V_{\mathrm{outifi}}=\frac{V_{\mathrm{ref}}}{2}\frac{{\mathrm{Rc}}_i}{\sqrt{{\mathrm{Rs}}_{\mathrm{BRi}}^2+L_{\mathrm{BRi}}^2{\omega }^2}}$

Based on this peak value, processing device 121 may determine the value of inductance L_BRi by the following formula:

$L_{\mathrm{BRi}}=\frac{1}{\omega }\sqrt{{\left(\frac{{\mathrm{Rc}}_i}{2}\frac{V_{\mathrm{ref}}}{V_{\mathrm{outifi}}}\right)}^2-{\mathrm{Rs}}_{\mathrm{BRi}}^2}$

C) measurement of mutual inductance Ml_i,i′

To measure the coefficient Ml_i,i′ of mutual inductance between two receiver coils BR_i and BR_i′, generator 331 controls the application, via controllable voltage source 433 _i, of a sinusoidal AC voltage Vm_i on the terminal of coil BR_i connected to voltage source 433 _i. Voltage Vm_i may, as in cases A) and B), be expressed as follows:
Vm _i(t)=V _ref cos(2πf _i t)

As in case B), frequency f_i of voltage Vm_i is selected to be close to or greater than the cut-off frequency of the coil, Rs_BRi/2πL_BRi, so that the impedance of the inductance of coil BR_i is non-negligible as compared with series resistance Rs_BRi. As an example, to measure the mutual inductance coefficient, frequency f_i is selected to be from 1 to 50 times the cut-off frequency of the coil. As an example, to measure mutual inductance coefficient frequency f_i may be in the range from 1 to 20 kHz for a cut-off frequency of the coil in the order of 1 kHz. Further, as in case B), frequency f_i is preferably different from the emission frequency or frequencies of emission device 101. As an example, frequency f_i is smaller than the lowest emission frequency of emission device 101, or greater than the largest emission frequency of emission device 101. Amplitude V_ref of voltage Vm_i is selected to avoid saturating operational amplifier 203 _i.

The voltage applied, via controllable current source 433 _i′, to the terminal of coil Bit_i′ connected to voltage source 433 _i′, is for example zero. Anyway, this voltage comprises no component of frequency f_i.

Current i_BRi crossing coil BR_i is coupled to output voltage Vout_i of transimpedance amplifier 201 _i by the following relation:

$i_{\mathrm{BRi}}\left(t\right)=\frac{V_{\mathrm{outi}}\left(t\right)}{{\mathrm{Rc}}_i}$

Under the effect of this sinusoidal current, coil BR_i emits an AC electromagnetic field of frequency f_i. This field is captured by coil BR_i′, inducing across coil Bit_i′ a voltage v_BRi′ expressed as follows:
v _BRi′(t)=−jωMl _i,i′ i _BRi(t)

This voltage is amplified by transimpedance amplification stage 201 _i′, which outputs a voltage V_outi′ expressed as follows:

$V_{{\mathrm{outi}}^{\prime }}\left(t\right)=-j\omega {\mathrm{Ml}}_{i,i^{\prime }}{i}_{\mathrm{BRi}}\cos \left(2\pi f_{i}t\right)\frac{{\mathrm{Rc}}_{i^{\prime }}}{{\mathrm{Rs}}_{{\mathrm{BRi}}^{\prime }}+L_{{\mathrm{BRi}}^{\prime }}j\omega }$

Processing device 121 is capable, based on the signals measured at the output of amplification stages 201 _i to 201 _i′, of determining coefficient Ml_i,i′ which can be expressed as follows:

${\mathrm{Ml}}_{i,i^{\prime }}=\frac{V_{{\mathrm{outi}}^{\prime }}}{V_{\mathrm{outi}}}\frac{{\mathrm{Rc}}_i}{{\mathrm{Rc}}_{i^{\prime }}}\frac{{\mathrm{Rs}}_{\mathrm{BRi}}+L_{\mathrm{BRi}}j\omega }{\omega }$

As an example, the different mutual inductance coefficients of assembly 113 of receiver coils, that is, coefficients Ml_1,2, Ml_1,3 and Ml_1,3 in the example of three receiver coils, may be determined simultaneously by using different excitation frequencies f_i. As a variation, the different mutual inductance coefficients may be determined sequentially by using a same excitation frequency f_i.

The measurement of parameters Rs_BRi, L_BRi and/or Ml_i,i′ may be performed during a calibration phase prior to a position tracking phase, and/or during the actual position tracking phase. For example the measurements of parameters Rs_BRi, L_BRi and/or Ml_i,i′ may be performed continuously in parallel with the measurements of the electromagnetic fields from the emission device, provided for the excitation frequency or frequencies applied by the parameter measurement system on the receiver coils to be different from the emission frequencies of the emission device. Further, parameters Rs_BRi, L_BRi and/or Ml_i,i′ may be measured simultaneously as soon as the excitation frequencies used to measure them are different from one another.

As an example, generator 331 may comprise a digital frequency synthesizer (not shown) capable of generating one or a plurality of sinusoidal signals having controllable frequencies and, possibly, of adding these signals. The controllable voltage source 433 _i associated with each coil for example comprises a digital-to-analog converter (not shown) having its input coupled to a digital output of the frequency synthesizer, and having its output coupled to coil BR_i. As a variation, a resistive voltage dividing bridge may be provided between the output of the digital-to-analog converter and the end of coil BR_i connected to voltage source 433 _i, to adjust the level of the excitation voltage applied to coil BR_i.

An advantage of the locating system described in relation with FIGS. 3 and 4 is that it enables to measure possible drifts of certain parameters of the reception device. Knowing such drifts, it is in particular possible to correct the field values measured by the reception device, and thus to improve the locating accuracy of all the receiver coils with respect to know locating systems.

Specific embodiments have been described. Various alterations, modifications, and improvements will readily occur to those skilled in the art.

In particular, the described embodiments are not limited to the above-mentioned application to the locating of surgical tools, but may apply to other fields requiring accurately locating an object in a reference frame.

Further, the described embodiments are not limited to the above-mentioned example of a locating system with three emitter coils and three receiver coils, but more generally apply to any electromagnetic locating system comprising at least one emitter coil and at least one receiver coil. It should be noted that in the case of a system with a single receiver coil, no measurement of the mutual inductance coefficient is necessary.

More generally, it should be noted that although a system enabling to measure possible drifts of parameters Rs_BRi, L_BRi and/or Ml_i,i′ has been described, it may be chosen, according to the needs of the application, to only monitor a single one of these parameters, for example, parameter Rs_BRi which is generally the most critical, or a subset of these parameters.

Further, although an embodiment where the operations carried out by processing device 121 are implemented in the digital domain has been described hereabove, the described embodiments are not limited to this specific case. As a variation, the operations performed by device 121 may be totally or partly implemented in the analog domain. As an example, the operations of synchronous demodulation and of filtering and/or of synchronous detection may be implemented in the analog domain, and the operations of position calculation based on the measured field values may be implemented in the digital domain.

Such alterations, modifications, and improvements are intended to be part of this disclosure, and are intended to be within the spirit and the scope of the present invention. Accordingly, the foregoing description is by way of example only and is not intended to be limiting. The present invention is limited only as defined in the following claims and the equivalents thereto.

Claims (11)

What is claimed is:

1. An electromagnetic position tracking system comprising:

an electromagnetic field emission device comprising at least one emitter coil and, connected to said at least one emitter coil, a first generator of an electric signal for exciting said at least one emitter coil;

a device for receiving the electromagnetic field emitted by the emission device, comprising at least one receiver coil and, connected to said at least one receiver coil, a circuit for reading an electric signal induced in said at least one receiver coil; and

a system for measuring at least one parameter of the reception device, comprising, directly connected to said at least one receiver coil by a conductive track or conductive wire, a second generator of an electric signal for exciting said at least one receiver coil wherein the read circuit comprises, associated with each receiver coil, a sense amplification stage comprising an operational amplifier having its inverting input coupled to the output via a feedback resistor and having its non-inverting input coupled to a node of application of a reference potential, a first end of the receiver coil being connected to the inverting input of the operational amplifier.

2. The system of claim 1, wherein said at least one parameter is a parameter from the group comprising the series resistance and the self-inductance of said at least one receiver coil.

3. The system of claim 2, wherein said at least one parameter comprises the series resistance of each receiver coil, and wherein the measurement system is capable, to measure said series resistance, of applying on one end of the receiver coil a DC voltage or a sinusoidal voltage having a frequency at least 20 times lower than the cut-off frequency of the coil.

4. The system of claim 2, wherein said at least one parameter comprises the self-inductance of each receiver coil, and wherein the measurement system is capable, to measure said self-inductance, of applying on one end of the receiver coil a sinusoidal voltage having a frequency greater than the cut-off frequency of the coil.

5. The system of claim 1, wherein the reception device comprises at least two receiver coils, and wherein said at least one parameter is a parameter from the group comprising the series resistance of each receiver coil, the self-inductance of each receiver coil, and the coefficient of mutual inductance between two receiver coils.

6. The system of claim 5, wherein said at least one parameter comprises the coefficient of mutual inductance between two receiver coils, and wherein the measurement system is capable, to measure said coefficient, of applying on one end of one of the two receiver coils a sinusoidal voltage having a frequency greater than the cut-off frequency of the coil.

7. The system of claim 1, wherein the second generator comprises, associated with each receiver coil, a controllable voltage source connected between the second end of the receiver coil and said node of application of a reference potential.

8. The system of claim 1, wherein the second generator comprises a digital frequency synthesizer.

9. The system of claim 1, wherein said at least one emitter coil comprises three emitter coils oriented along different axes, and wherein said at least one receiver coil comprises three receiver coils oriented along different axes.

10. An electromagnetic position tracking system comprising:

an electromagnetic field emission device comprising at least one emitter coil and, connected to said at least one emitter coil, a first generator of an electric signal for exciting said at least one emitter coil;

a device for receiving the electromagnetic field emitted by the emission device, comprising at least one receiver coil and, connected to said at least one receiver coil, a circuit for reading an electric signal induced in said at least one receiver coil; and

a system for measuring at least one parameter of the reception device, comprising, directly connected to said at least one receiver coil by a conductive track or conductive wire, a second generator of an electric signal for exciting said at least one receiver coil,

wherein said at least one parameter comprises the series resistance of each receiver coil, and wherein the measurement system is capable, to measure said series resistance, of applying on one end of the receiver coil a DC voltage or a sinusoidal voltage having a frequency at least 20 times lower than the cut-off frequency of the coil.

11. An electromagnetic position tracking system comprising:

an electromagnetic field emission device comprising at least one emitter coil and, connected to said at least one emitter coil, a first generator of an electric signal for exciting said at least one emitter coil;

a device for receiving the electromagnetic field emitted by the emission device, comprising at least one receiver coil and, connected to said at least one receiver coil, a circuit for reading an electric signal induced in said at least one receiver coil; and

a system for measuring at least one parameter of the reception device, comprising, directly connected to said at least one receiver coil by a conductive track or conductive wire, a second generator of an electric signal for exciting said at least one receiver coil,

wherein said at least one parameter comprises the self-inductance of each receiver coil, and wherein the measurement system is capable, to measure said self-inductance, of applying on one end of the receiver coil a sinusoidal voltage having a frequency greater than the cut-off frequency of the coil.

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